U.S. patent application number 10/318895 was filed with the patent office on 2004-06-17 for active damping for open mri image stabilization.
Invention is credited to Hallman, Darren Lee, Luo, Huageng, Smith, Walter John, Staver, Daniel Arthur.
Application Number | 20040113622 10/318895 |
Document ID | / |
Family ID | 32506496 |
Filed Date | 2004-06-17 |
United States Patent
Application |
20040113622 |
Kind Code |
A1 |
Luo, Huageng ; et
al. |
June 17, 2004 |
Active damping for open MRI image stabilization
Abstract
A control instrumentation system is provided for active
vibration reduction in an open MRI system. The control
instrumentation system comprises a sensor coupled to a post of the
open MRI system for detecting vibration signals and converting the
vibration signal to a corresponding electrical signal, a digital
signal processor implementing a control algorithm to process the
electrical signal to generate a corresponding control signal and an
actuator receiving the control signal and using the control signal
to minimize the vibration of the system.
Inventors: |
Luo, Huageng; (Clifton Park,
NY) ; Staver, Daniel Arthur; (Colorado Springs,
CO) ; Hallman, Darren Lee; (Clifton Park, NY)
; Smith, Walter John; (Ballston Spa, NY) |
Correspondence
Address: |
General Electric Company
CRD Patent Docket Rm 4A59
Bldg. K-1
P.O. Box 8
Schenectady
NY
12301
US
|
Family ID: |
32506496 |
Appl. No.: |
10/318895 |
Filed: |
December 13, 2002 |
Current U.S.
Class: |
324/322 |
Current CPC
Class: |
G01R 33/3854
20130101 |
Class at
Publication: |
324/322 |
International
Class: |
G01V 003/00 |
Claims
1. A control instrumentation system for active vibration reduction
in an open Magnetic Resonance Imaging (MRI) system, said system
comprising: a sensor coupled to a post of the open MRI system, said
sensor for detecting vibration signals and converting the vibration
signals to a corresponding electrical signal; and a control circuit
coupled to said sensor, said control circuit configured for
implementing a control algorithm to process the electrical signal
to generate a corresponding control signal, the control signal
being used for damping vibration of the open MRI system.
2. The control instrumentation system of claim 1, wherein said
control circuit comprises a digital signal processor, the digital
signal processor being configured to implement the control
algorithm to process the electrical signal to generate the
corresponding control signal.
3. The control instrumentation system of claim 1, further
comprising an actuator coupled to the control circuit, the actuator
configured for receiving the control signal and using the control
signal to minimize the vibration of the open MRI system.
4. The control instrumentation system of claim 1, wherein the
electrical signal is an alternating current (ac) voltage signal
5. The control instrumentation system of claim 1, wherein the
sensor is selected from the group consisting of a lead zirconate
titanate wafer stack, an accelerometer, a velocity sensor, a
displacement sensor, and a strain gauge, each having a
corresponding appropriate control algorithm modification.
6. The control instrumentation system of claim 1, wherein the
control algorithm is selected from the techniques consisting of a
positive position feedback control technique, a acceleration feed
back control technique, a velocity feed back control technique.
7. The control instrumentation system of claim 1, further
comprising a charge amplifier coupled to the sensor, the charge
amplifier amplifying the electrical signal.
8. The control instrumentation system of claim 7, further
comprising an analog to digital converter converting the electrical
signal to digital electric signal, the digital electric signal
being provided to the digital signal processor to generate a
digital control signal.
9. The control instrumentation system of claim 8, further
comprising a digital to analog converter coupled to the digital
signal processor, the digital to analog converter receiving the
digital control signal and generating the control signal.
10. The control instrumentation system of claim 9, further
comprising a peizo amplifier coupled to the digital to analog
converter, the peizo electric amplifier amplifying the control
signal and the control signal being provided to the actuator.
11. A method for detecting and minimizing the effects of vibration
in an open magnet Magnetic Resonance Imaging (MRI) system, said
method comprising: detecting a vibration signal from a sensor
attached to a support structure contained within the MRI system;
processing the vibration signal by implementing a control algorithm
to damp the effects of vibration within the open MRI system.
12. The method of claim 11, wherein the control algorithm is
selected from the techniques consisting of a positive position
feedback control technique, a acceleration feed back control
technique, a velocity feed back control technique.
13. The method of claim 11, wherein the processing comprises:
converting the vibration signal to a corresponding electrical
signal; and implementing the control algorithm to process the
electrical signal and generate a corresponding control signal.
14. The method of claim 13, further comprising, receiving the
control signal and using the control signal to minimize the
vibration of the open MRI system.
15. The method of claim 13, wherein the electrical signal is an ac
voltage signal.
16. The method of claim 13, further comprising, amplifying the
electrical signal prior to implementing the control algorithm.
17. The method of claim 13, further comprising: converting the
electrical signal to a digital electric signal, the control
algorithm being implemented on the digital electric signal to
generate a digital control signal.
18. The method of claim 17, further comprising: converting the
digital control signal and generating the control signal.
19. The method of claim 11, further comprising: amplifying the
control signal, the control signal being used to minimize the
effects of vibration.
Description
BACKGROUND
[0001] The invention relates generally to magnet resonance imager
(MRI) systems, and more specifically to method and apparatus for
active damping for open MRI images.
[0002] Typically, Magnet Resonance Imager (MRI) systems are
cylindrical in shape. To increase the accessibility to patients,
new designs such as open MRI have been introduced. Typically, an
open MRI system consists of a top magnet and a bottom magnet. The
magnets are connected to each other by posts (usually two) to
increase the openness between the two magnets.
[0003] One problem with the above system is that since the two
posts are located within 180.degree. of the magnet circumference
(to increase the patient scan swing angle), the magnet supports are
not axially symmetric. Also, the top magnet center of the gravity
is not aligned with the post supports. It is desirable to have the
posts confined to as narrow an angular region as possible to
enhance the openness of the MRI system. Narrow posts, however, are
prone to vibration, which in turn affects imaging. In addition, the
vibration of the posts causes a non-uniform magnetic field.
[0004] Usually, in high field MRI systems, the weight of a magnet
is substantial. There is a potentially wide weight range, but for
illustrative purposes a magnet of approximately 10,000 pounds is
not unusual. The weight of the magnets makes the system susceptible
to any force excitations, including environmental vibration and
imaging processing magnetic force excitations. When the relative
motion between the magnets exceeds certain limits, the image
quality is significantly deteriorated.
[0005] In such environments, vibration of support posts may be
detected during imaging with a fast spin echo sequence. The effect
is caused by the periodic application of imaging gradients that
produce a resonance with the mechanical systems of the MRI system.
As the support posts bend slightly, the magnetic field in the
imaging volume is perturbed, which is undesirable.
[0006] Thus, there is a need for a closed-loop control system to
reduce vibration in an open MRI system. To ensure good image
quality, it would also be desirable to increase the equivalent
system damping so that disturbances can be damped out quickly and
amplitudes can be reduced.
SUMMARY OF THE INVENTION
[0007] Briefly, in accordance with one embodiment of the invention,
a control instrumentation system is provided for active vibration
reduction in an open MRI system. The system comprises a sensor
coupled to a post of the open MRI system. The sensor detects
vibration signals and converts the vibration signal to a
corresponding electrical signal. A digital signal processor coupled
to the sensor implements a control algorithm to process the
electrical signal and generates a corresponding control signal. An
actuator coupled to the digital signal processor, receives the
control signal and uses the control signal to minimize the
vibration of the system.
[0008] In another embodiment, a method for detecting and minimizing
the effects of vibration in an open magnet MRI system is provided.
The method comprises detecting a vibration signal, converting the
vibration signal to a corresponding electrical signal, implementing
a control algorithm to process the electrical signal and generate a
corresponding control signal and using the control signal to
minimize the effects of vibration of the system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] These and other features, aspects, and advantages of the
present invention will become better understood when the following
detailed description is read with reference to the accompanying
drawings in which like characters represent like parts throughout
the drawings, wherein:
[0010] FIG. 1 is a schematic perspective view of an embodiment of
the magnet of the invention;
[0011] FIG. 2 is a schematic cross sectional view of the magnet of
FIG. 1 taken along lines 2-2 of FIG. 1; and,
[0012] FIG. 3 is a block diagram illustrating an embodiment of a
control instrumentation system.
DETAILED DESCRIPTION
[0013] FIG. 1 is a schematic perspective view of an embodiment of
the magnets of an open MRI system. Referring now to the drawings,
wherein like numerals represent like elements throughout, FIGS. 1-2
show an embodiment of the magnet 10 of the present invention. In
one application, magnet 10 provides the static magnetic field for a
magnetic resonance imaging (MRI) system (not shown) used in medical
diagnostics. It is noted that in describing the invention, when a
magnet is said to include a component such as a coil, a pole piece,
or a dewar, etc., it is understood to mean that the magnet includes
at least one coil, at least one pole piece, or at least one dewar,
etc.
[0014] In a first embodiment, a superconductive magnet 10 includes
a longitudinally extending axis 12 and a first assembly 14. The
first assembly 14 includes a superconductive main coil 16 and a
magnetizable pole piece 18. The main coil 16 is generally coaxially
aligned with the axis 12, carries a first main electric current in
a first direction, and is disposed a first radial distance from the
axis 12. The first direction is defined to be either a clockwise or
a counterclockwise circumferential direction about the axis 12 with
any slight longitudinal component of current direction being
ignored. The pole piece 18 is generally coaxially aligned with the
axis 12, and is spaced apart from the main coil 16 of the first
assembly 14. Most of the pole piece 18 of the first assembly 14 is
disposed radially inward of the main coil 16 of the first assembly
14. The pole piece 18 of the first assembly 14 extends from the
axis 12 radially outward a distance equal to at least 75 percent of
the first radial distance. During operation of the magnet 10, the
pole piece 18 of the first assembly 14 has a temperature equal
generally to that of the main coil 16 of the first assembly 14. It
is noted that the first assembly 14 may be used alone as a table
magnet (not shown) or may be one of two assemblies of an open
magnet (as shown in the figures). During operation of the magnet
10, the main coil 16 and the pole piece 18 of the first assembly 14
are cooled by a cryocooler coldhead (not shown), and/or by a
cryogenic fluid, or the like.
[0015] In one orientation of the open magnet 10, the first and
second portions 76 and 78 of the vacuum vessel 60 are horizontally
aligned (as shown in FIG. 1), and the patient would typically be in
a standing position within the imaging volume 66. In another
orientation (not shown) of the open magnet 10, the first and second
portions 76 and 78 of the vacuum vessel 60 are vertically aligned,
and the patient would typically be lying on a patient table within
the imaging volume 66. It is noted that the pole pieces 18 and 30
provide the main structural support of the magnet 10 including the
coils 16, 28, 68, and 70 and the dewars 20 and 32, and that the
pole pieces 18 and 30 are shaped (e.g., have ring steps) to provide
a more uniform magnetic field within the imaging volume 66.
[0016] FIG. 3 is a block diagram of an embodiment of control
instrumentation system implemented to reduce the active vibration
system of the open MRI system of FIGS. 1 and 2. The control circuit
100 is coupled to sensor 110 and actuator 180. The control circuit
comprises charge amplifier 120, analog to digital converter 130,
digital signal processor 140, control algorithm 150, digital to
analog converter 160, peizo amplifier 170. The control circuit 100
is configured for generating a control signal in response to
vibration signals detected by the sensor in order to damp the
vibration. The actuator is held in position by holder 190. Each
component and the control algorithm are described in further detail
below.
[0017] As used herein, "adapted to", "configured" and the like
refer to mechanical or structural connections between elements to
allow the elements to cooperate to provide a described effect;
these terms also refer to operation capabilities of electrical
elements such as analog or digital computers or application
specific devices (such as an application specific integrated
circuit (ASIC)) that are programmed to perform a sequel to provide
an output in response to given input signals.
[0018] Sensor 110 is coupled to a post of the open MRI system as
shown in the figure. The sensor detects vibration signals of the
post and converts the vibration signal to a corresponding
electrical signal. In an embodiment, the electrical signal
comprises an alternating current (ac) voltage signal. In the
illustrated embodiment, the sensor is a lead zirconate titanate
wafer stack. Other sensors that can sense vibration can be used
including, for example, an accelerometer, a velocity sensor, a
displacement sensor, or a strain gauge. It is to be appreciated
that one skilled in the art of sensors would be able to select from
a variety of known alternatives.
[0019] Charge amplifier 120 is coupled to the sensor and receives
the electrical signal. The charge amplifier amplifies the
electrical signal to a desired voltage level to generate an
amplified electrical signal. In an embodiment the charge amplifier
comprises custom designed to suit the sensor needs and the desired
voltage is around 1.0 volt. Other ADC's known in the art can also
be used.
[0020] Analog to digital converter (ADC) 130 is coupled to the
charge amplifier and receives the amplified electrical signal. ADC
130 converts the amplified electrical signal to digital electric
signal. In the illustrated embodiment ADC 130 comprises a National
Instrument NI-6025E, which provides both A/D and D/A
converters.
[0021] Digital signal processor 140 is coupled to the ADC and
receives the digital electric signal. The digital signal processor
implements a control algorithm 150 to process the digital electric
signal to generate a corresponding control signal. In the
illustrated embodiment, the control algorithm is based on the
positive position feedback (PPF) control technique. It may be noted
that for different sensors, the control algorithm needs to be
modified accordingly. For example, if an accelerometer is used, the
acceleration feed back control algorithm will be used, while if a
velocity sensor is used, a velocity feed back control algorithm
should be used. The design procedure for the PPF control technique
is described below in further detail.
[0022] The single degree of freedom (DOF) equation for the PPF
control of a structure consists of the structure modal equation
with feedback and the compensator modal equation with sensing. The
structure modal equation is given below: 1 { + s . + s 2 ( - ) = f
( t ) + c . + c 2 ( - ) = 0 Equation ( 1 )
[0023] where .xi. is the modal coordinate of the structure,
.beta..sub.s=2.delta..zeta..sub.s.omega..sub.s; .zeta..sub.s is the
structural damping ratio, .omega..sub.s is the structural natural
frequency, .eta. is the modal coordinate of the compensator,
.beta..sub.c=2.zeta..sub.c.omega..sub.c, .zeta..sub.s is the
compensator damping ratio, .omega..sub.s is the compensator natural
frequency, .gamma. is the scalar gain applied to the feedback
signal, f(t) is the forcing term.
[0024] In the Laplace domain, Equation (1) can be expressed as 2 {
_ s 2 + s _ s + s 2 ( _ - _ ) = f _ _ s 2 + c _ s + c 2 ( _ - _ ) =
0 Equation ( 2 )
[0025] So that solving for .eta. in the equation (2) and replacing
its expression in the Equation (1), we obtain: 3 [ ( s 2 + s s + s
2 ) - s 2 c 2 ( s 2 + c s + c 2 ) ] _ = f _ Equation ( 3 )
[0026] Thus the characteristic equation of the system is:
(s.sup.2+.beta..sub.ss+.omega..sub.s.sup.2)(s.sup.2.beta..sub.cs+.omega..s-
ub.c.sup.2)-.gamma..omega..sub.s.sup.2.omega..sub.c.sup.2=0
Equation (4)
[0027] The Routh arrays for the characteristic Equation (4) are: 4
1 s 2 + c 2 + s c s 2 c 2 ( 1 - ) s + c s c 2 + c s 2 0 s s 2 + c c
2 + s c ( s + c ) s + c s 2 c 2 ( 1 - ) 0 s c ( ( s 2 - c 2 ) 2 + (
s + c ) ( s c 2 + c s 2 ) ) + ( s + c ) 2 s 2 c 2 s s 2 + c c 2 + s
c ( s + c ) 0 0 s 2 c 2 ( 1 - ) 0 0
[0028] Since the elements of the first column have the same sign
only if .gamma.<1, the closed loop system is stable if
.gamma.<1.
[0029] In many applications, it is required that the introduction
of the active vibration absorber should not introduce new vibration
modes. This can be achieved by forcing the characteristic Equation
(4) to have identical roots, that is
(s.sup.2+2.zeta..sub.s.omega..sub.ss+.omega..sub.s.sup.2)(s.sup.2+2.zeta..-
sub.c.omega..sub.ss+.omega..sub.c.sup.2)-.gamma..omega..sub.s.sup.2.omega.-
.sub.c.sup.2=(s.sup.2+2.zeta..sub.f.omega..sub.fs+.omega..sub.f.sup.2).sup-
.2 Equation (5)
[0030] where .zeta.f is the closed-loop system damping and (of is
the closed-loop system frequency. Equating the terms of same power
of s in Equation (5), we obtain the following equations: 5 { 2 f f
= s s + c c 2 f 2 + 4 f 2 f 2 = s 2 + 4 s s c c + c 2 2 f f 3 = s 2
c c + c 2 s s f 4 = s 2 c 2 ( 1 - ) Equations ( 6 ) , ( 7 ) , ( 8 )
and ( 9 )
[0031] From equations (6-9), the cross over conditions can be
derived as
.omega..sub.s.sup.2(1-.zeta..sub.s.sup.2)=.omega..sub.c.sup.2(1-.zeta..sub-
.c.sup.2) Equation (10)
or
.omega..sub.c.zeta..sub.c=.omega..sub.s.zeta..sub.s Equation
(11)
[0032] Assuming that the PPF compensator will be operated at the
cross over point, a cross over condition can be chosen to design a
compensator. To add damping in a structure without changing too
much the natural frequency of the structure, we use the cross over
condition Equation (6) which states that the damped natural
frequencies of the structure and the compensator are the same. The
condition fixes the first design parameter .omega.c to be 6 c = s 1
- s 2 1 - c 2 Equation ( 12 )
[0033] Using this condition and Equation (6) and Equation (7), the
closed loop natural frequency is: 7 f = s ( 1 - s 2 + s c 1 - s 2 1
- c 2 ) 1 2 Equation ( 13 )
[0034] Substituting Equation (13) in Equation (6), the gain of the
compensator is: 8 = 1 - 1 - c 2 1 - s 2 ( 1 - s 2 + s c 1 - s 2 1 -
c 2 ) 2 Equation ( 14 )
[0035] And finally, Equation (6) is: 9 f = 1 2 ( s + c 1 - s 2 1 -
c 2 ) ( 1 - s 2 + s c 1 - s 2 1 - c 2 ) 1 2 Equation ( 15 )
[0036] Digital to analog converter 160 is coupled to the digital
signal processor and receives the digital control signal. Digital
to analog converter 160 converts the digital control signal to an
analog control signal. In the illustrated embodiment, the digital
to analog converter 160 comprises NI-6025E. Other known digital to
analog converters can also be used.
[0037] Peizo amplifier 170 is coupled to the digital to analog
converter to receive the analog control signal. The peizo electric
amplifier amplifies the analog control signal to a desirable
voltage. In the illustrated embodiment, the desirable voltage is
determined by the control algorithm to minimize the sensor
vibration.
[0038] Actuator 180 is coupled to the peizo amplifier and receives
the analog control signal. The actuator uses the analog control
signal to compensate and minimize the vibration of the open MRI
system.
[0039] The previously described embodiments of the present
invention have many advantages, including adding equivalent damping
to the vibration mode. The mechanical vibration energy is
dissipated through electronic devices. The control algorithm design
being flexible can be designed to accommodate multi-mode control.
Using this invention, the MRI image distortion due to environment
and processing vibrations can be significantly reduced.
[0040] While only certain features of the invention have been
illustrated and described herein, many modifications and changes
will occur to those skilled in the art. It is, therefore, to be
understood that the appended claims are intended to cover all such
modifications and changes as fall within the true spirit of the
invention.
* * * * *